Initial commit
This commit is contained in:
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using System.Runtime.InteropServices;
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// using RobotNet10.Shared.Sensor;
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namespace RobotNet10.RobotApp.Navigation;
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/// <summary>
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/// P/Invoke declarations for Navigation C API
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/// </summary>
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public static class NavigationNativeInterface
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{
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// Library path
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private const string LibraryPath = "/usr/local/lib/libnav_c_api.so";
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#region String Management
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/// <summary>
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/// Free a string allocated by the library
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/// </summary>
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/// <param name="str">String to free</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void nav_c_api_free_string(IntPtr str);
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#endregion
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#region State Conversion
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/// <summary>
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/// Convert a State enum to its string representation
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/// </summary>
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/// <param name="state">Enum value of NavigationState</param>
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/// <returns>String representation (caller must free with nav_c_api_free_string)</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern IntPtr navigation_state_to_string(NavigationState state);
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#endregion
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#region Header Functions
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/// <summary>
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/// Create a new header
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/// </summary>
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/// <param name="frame_id">Frame id</param>
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/// <returns>Header</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
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public static extern Header header_create([MarshalAs(UnmanagedType.LPUTF8Str)] string frame_id);
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/// <summary>
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/// Set data for a header
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/// </summary>
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/// <param name="seq">Sequence</param>
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/// <param name="sec">Second</param>
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/// <param name="nsec">Nanosecond</param>
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/// <param name="frame_id">Frame id</param>
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/// <returns>Header</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
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public static extern Header header_set_data(
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uint seq,
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uint sec,
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uint nsec,
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[MarshalAs(UnmanagedType.LPUTF8Str)] string frame_id);
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/// <summary>
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/// Create a new time
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/// </summary>
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/// <returns>Time</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern Time time_create();
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#endregion
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#region Helper Functions
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/// <summary>
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/// Creates a target pose by offsetting a given 2D pose along its heading direction
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/// </summary>
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/// <param name="pose_x">X coordinate of the original pose</param>
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/// <param name="pose_y">Y coordinate of the original pose</param>
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/// <param name="pose_theta">Heading angle in radians</param>
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/// <param name="frame_id">The coordinate frame ID (null-terminated string)</param>
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/// <param name="offset_distance">Distance to offset along heading (positive = forward, negative = backward)</param>
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/// <param name="out_goal">Output parameter for the offset pose</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_offset_goal_2d(
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double pose_x, double pose_y, double pose_theta,
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[MarshalAs(UnmanagedType.LPUTF8Str)] string frame_id,
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double offset_distance,
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out PoseStamped out_goal);
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/// <summary>
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/// Creates an offset target pose from a given PoseStamped
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/// </summary>
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/// <param name="in_pose">Input pose</param>
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/// <param name="offset_distance">Distance to offset along heading direction</param>
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/// <param name="out_goal">Output parameter for the offset pose</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_offset_goal_stamped(
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ref PoseStamped in_pose,
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double offset_distance,
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out PoseStamped out_goal);
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#endregion
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#region Navigation Handle Management
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/// <summary>
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/// Create a new navigation instance
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/// </summary>
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/// <returns>Navigation handle, or IntPtr.Zero on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern IntPtr navigation_create();
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/// <summary>
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/// Destroy a navigation instance
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/// </summary>
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/// <param name="handle">Navigation handle to destroy</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_destroy(IntPtr handle);
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#endregion
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#region TF Listener Management
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/// <summary>
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/// Create a TF listener instance
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/// </summary>
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/// <returns>TF listener handle, or IntPtr.Zero on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern IntPtr tf_listener_create();
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/// <summary>
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/// Destroy a TF listener instance
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/// </summary>
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/// <param name="handle">TF listener handle to destroy</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void tf_listener_destroy(IntPtr handle);
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/// <summary>
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/// Inject a static transform into the TF buffer
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/// </summary>
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/// <param name="tf_handle">TF listener handle</param>
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/// <param name="parent_frame">Parent frame id (e.g. "map")</param>
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/// <param name="child_frame">Child frame id (e.g. "base_link")</param>
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/// <param name="x">Translation x (meters)</param>
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/// <param name="y">Translation y (meters)</param>
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/// <param name="z">Translation z (meters)</param>
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/// <param name="qx">Rotation quaternion x</param>
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/// <param name="qy">Rotation quaternion y</param>
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/// <param name="qz">Rotation quaternion z</param>
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/// <param name="qw">Rotation quaternion w</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool tf_listener_set_static_transform(
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IntPtr tf_handle,
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[MarshalAs(UnmanagedType.LPUTF8Str)] string parent_frame,
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[MarshalAs(UnmanagedType.LPUTF8Str)] string child_frame,
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double x, double y, double z,
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double qx, double qy, double qz, double qw);
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#endregion
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#region Navigation Interface Methods
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/// <summary>
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/// Initialize the navigation system
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="tf_handle">TF listener handle</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_initialize(IntPtr handle, IntPtr tf_handle);
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/// <summary>
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/// Set the robot's footprint (outline shape)
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="points">Array of points representing the footprint polygon</param>
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/// <param name="point_count">Number of points in the array</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_set_robot_footprint(
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IntPtr handle,
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IntPtr points,
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nuint point_count);
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/// <summary>
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/// Get the robot's footprint (outline shape)
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="out_points">Output array of points (allocated by library, free with navigation_free_points)</param>
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/// <param name="out_count">Output number of points in the array</param>
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/// <returns>true on success, false on failure</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_robot_footprint(
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IntPtr handle,
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out IntPtr out_points,
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out nuint out_count);
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/// <summary>
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/// Free a points array allocated by navigation_get_robot_footprint
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/// </summary>
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/// <param name="points">Pointer to point array</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_free_points(IntPtr points);
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/// <summary>
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/// Send a goal for the robot to navigate to
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="goal">Target pose in the global frame</param>
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/// <param name="xy_goal_tolerance">Acceptable error in X/Y (meters)</param>
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/// <param name="yaw_goal_tolerance">Acceptable angular error (radians)</param>
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/// <returns>true if goal was accepted and sent successfully</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_move_to(
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IntPtr handle,
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PoseStamped goal);
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/// <summary>
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/// Send a goal for the robot to navigate to with order
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/// Note: This function may not be available in all C API versions
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="order">Order handle</param>
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/// <param name="goal">Target pose in the global frame</param>
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/// <param name="xy_goal_tolerance">Acceptable error in X/Y (meters)</param>
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/// <param name="yaw_goal_tolerance">Acceptable angular error (radians)</param>
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/// <returns>true if goal was accepted and sent successfully</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_move_to_order(IntPtr handle, Order order, PoseStamped goal);
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/// <summary>
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/// Send a docking goal to a predefined marker
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="marker">Marker name or ID (null-terminated string)</param>
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/// <param name="goal">Target pose for docking</param>
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/// <param name="xy_goal_tolerance">Acceptable XY error (meters)</param>
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/// <param name="yaw_goal_tolerance">Acceptable heading error (radians)</param>
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/// <returns>true if docking command succeeded</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_dock_to(
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IntPtr handle,
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[MarshalAs(UnmanagedType.LPUTF8Str)] string marker,
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PoseStamped goal);
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/// <summary>
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/// Move straight toward the target position
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="goal">Target pose</param>
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/// <param name="xy_goal_tolerance">Acceptable positional error (meters)</param>
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/// <returns>true if command issued successfully</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_move_straight_to(
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IntPtr handle,
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double distance);
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/// <summary>
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/// Rotate in place to align with target orientation
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="goal">Pose containing desired heading (only Z-axis used)</param>
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/// <param name="yaw_goal_tolerance">Acceptable angular error (radians)</param>
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/// <returns>true if rotation command was sent successfully</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_rotate_to(
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IntPtr handle,
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PoseStamped goal);
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/// <summary>
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/// Pause the robot's movement
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_pause(IntPtr handle);
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/// <summary>
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/// Resume motion after a pause
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_resume(IntPtr handle);
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/// <summary>
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/// Cancel the current goal and stop the robot
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_cancel(IntPtr handle);
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/// <summary>
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/// Send limited linear velocity command
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="linear_x">Linear velocity in X direction</param>
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/// <param name="linear_y">Linear velocity in Y direction</param>
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/// <param name="linear_z">Linear velocity in Z direction</param>
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/// <returns>true if the command was accepted</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_set_twist_linear(
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IntPtr handle,
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double linear_x, double linear_y, double linear_z);
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/// <summary>
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/// Send limited angular velocity command
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="angular_x">Angular velocity around X axis</param>
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/// <param name="angular_y">Angular velocity around Y axis</param>
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/// <param name="angular_z">Angular velocity around Z axis</param>
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/// <returns>true if the command was accepted</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_set_twist_angular(
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IntPtr handle,
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double angular_x, double angular_y, double angular_z);
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/// <summary>
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/// Get the robot's pose as a PoseStamped
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="out_pose">Output parameter with the robot's current pose</param>
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/// <returns>true if pose was successfully retrieved</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_robot_pose_stamped(
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IntPtr handle,
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ref PoseStamped out_pose);
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/// <summary>
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/// Get the robot's pose as a 2D pose
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="out_pose">Output parameter with the robot's current 2D pose</param>
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/// <returns>true if pose was successfully retrieved</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_robot_pose_2d(
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IntPtr handle,
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ref Pose2D out_pose);
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/// <summary>
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/// Get the robot's current twist
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="out_twist">Output parameter with the robot's current twist</param>
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/// <returns>true if twist was successfully retrieved</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_twist(
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IntPtr handle,
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ref Twist2DStamped ref_twist);
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/// <summary>
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/// Get navigation feedback
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/// </summary>
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/// <param name="handle">Navigation handle</param>
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/// <param name="out_feedback">Output parameter with navigation feedback</param>
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/// <returns>true if feedback was successfully retrieved</returns>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_feedback(
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IntPtr handle,
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ref NavFeedback out_feedback);
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/// <summary>
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/// Get global planner data from navigation system
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_global_data(
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IntPtr handle,
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ref PlannerDataOutput out_data);
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/// <summary>
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/// Get local planner data from navigation system
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern bool navigation_get_local_data(
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IntPtr handle,
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ref PlannerDataOutput out_data);
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/// <summary>
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/// Free navigation feedback structure
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/// </summary>
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/// <param name="feedback">Feedback structure to free</param>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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[return: MarshalAs(UnmanagedType.Bool)]
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public static extern void navigation_free_feedback(ref NavFeedback feedback);
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/// <summary>
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/// Free an occupancy grid handle
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_free_occupancy_grid(IntPtr handle);
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/// <summary>
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/// Free an occupancy grid update handle
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_free_occupancy_grid_update(IntPtr handle);
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/// <summary>
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/// Free a laser scan handle
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_free_laser_scan(IntPtr handle);
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/// <summary>
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/// Free an odometry handle
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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public static extern void navigation_free_odometry(IntPtr handle);
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/// <summary>
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/// Free a path2d handle
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/// </summary>
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[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
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||||
public static extern void navigation_free_path2d(IntPtr handle);
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/// <summary>
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/// Free a polygon stamped handle
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/// </summary>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
public static extern void navigation_free_polygon_stamped(IntPtr handle);
|
||||
|
||||
/// <summary>
|
||||
/// Free an order handle
|
||||
/// </summary>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
public static extern void navigation_free_order(IntPtr handle);
|
||||
|
||||
/// <summary>
|
||||
/// Free an array of named occupancy grids
|
||||
/// </summary>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
public static extern void navigation_free_named_occupancy_grids(IntPtr maps, nuint count);
|
||||
|
||||
/// <summary>
|
||||
/// Free an array of named laser scans
|
||||
/// </summary>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
public static extern void navigation_free_named_laser_scans(IntPtr scans, nuint count);
|
||||
|
||||
// [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
// [return: MarshalAs(UnmanagedType.Bool)]
|
||||
// public static extern void navigation_free_planner_data(PlannerDataOutputHandle handle);
|
||||
|
||||
/// <summary>
|
||||
/// Add a static map to the navigation system
|
||||
/// </summary>
|
||||
/// <param name="handle">Navigation handle</param>
|
||||
/// <param name="map_name">Name of the map</param>
|
||||
/// <param name="occupancy_grid">Occupancy grid handle</param>
|
||||
/// <returns>true if the map was added successfully</returns>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
[return: MarshalAs(UnmanagedType.Bool)]
|
||||
public static extern bool navigation_add_static_map(
|
||||
IntPtr handle,
|
||||
[MarshalAs(UnmanagedType.LPUTF8Str)] string map_name,
|
||||
OccupancyGrid occupancy_grid);
|
||||
|
||||
/// <summary>
|
||||
/// Add a laser scan to the navigation system
|
||||
/// </summary>
|
||||
/// <param name="handle">Navigation handle</param>
|
||||
/// <param name="laser_scan_name">Name of the laser scan</param>
|
||||
/// <param name="laser_scan">Laser scan handle</param>
|
||||
/// <returns>true if the laser scan was added successfully</returns>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
[return: MarshalAs(UnmanagedType.Bool)]
|
||||
public static extern bool navigation_add_laser_scan(
|
||||
IntPtr handle,
|
||||
[MarshalAs(UnmanagedType.LPUTF8Str)] string laser_scan_name,
|
||||
LaserScan laser_scan);
|
||||
|
||||
/// <summary>
|
||||
/// Add an odometry to the navigation system
|
||||
/// </summary>
|
||||
/// <param name="handle">Navigation handle</param>
|
||||
/// <param name="odometry_name">Name of the odometry</param>
|
||||
/// <param name="odometry">Odometry handle</param>
|
||||
/// <returns>true if the odometry was added successfully</returns>
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
[return: MarshalAs(UnmanagedType.Bool)]
|
||||
public static extern bool navigation_add_odometry(
|
||||
IntPtr handle,
|
||||
[MarshalAs(UnmanagedType.LPUTF8Str)] string odometry_name,
|
||||
Odometry odometry);
|
||||
|
||||
[DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
public static extern bool navigation_dock_to_order(
|
||||
IntPtr handle,
|
||||
Order order,
|
||||
[MarshalAs(UnmanagedType.LPUTF8Str)] string marker,
|
||||
PoseStamped goal);
|
||||
#endregion
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user